Crossing The Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics

Eugene Valassakis; Zihan Ding; Edward Johns

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arXiv · 2008.06686

Crossing The Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics

Eugene Valassakis·Zihan Ding·Edward Johns

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Abstract

Zero-shot sim-to-real transfer of tasks with complex dynamics is a highly challenging and unsolved problem. A number of solutions have been proposed in recent years, but we have found that many works do not present a thorough evaluation in the real world, or underplay the significant engineering effort and task-specific fine tuning that is required to achieve the published results. In this paper, we dive deeper into the sim-to-real transfer challenge, investigate why this is such a difficult problem, and present objective evaluations of a number of transfer methods across a range of real-world tasks. Surprisingly, we found that a method which simply injects random forces into the simulation performs just as well as more complex methods, such as those which randomise the simulator's dynamics parameters, or adapt a policy online using recurrent network architectures.

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Eugene Valassakis, Zihan Ding, Edward Johns. 2020-08-15. Crossing The Gap: A Deep Dive into Zero-Shot Sim-to-Real Transfer for Dynamics. https://arxiv.org/abs/2008.06686

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